이륜차동구동형로봇의 복합오차를 고려한 기구학적 파라미터 정밀보정기법

Abstract

Odometry using wheel encoders is one of the fundamental techniques for the pose estimationof wheeled mobile robots. However, odometry has a drawback that the position errors are accumulatedwhen the travel distance increases. Therefore, position errors are required to be reduced using appropriatecalibration schemes. The UMBmark method is the one of the widely used calibration schemes for twowheel differential drive robots. In UMBmark method, it is assumed that odometry error sources areindependent. However, there is coupled effect of odometry error sources. In this paper, a new calibrationscheme by considering the coupled effect of error sources is proposed. We also propose the test trackdesign for the proposed calibration scheme. The numerical simulation and experimental results show thatthe odometry accuracy can be improved by the proposed calibration scheme.